US9737992B2 - Automatic automated installation - Google Patents

Automatic automated installation Download PDF

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Publication number
US9737992B2
US9737992B2 US14/384,454 US201314384454A US9737992B2 US 9737992 B2 US9737992 B2 US 9737992B2 US 201314384454 A US201314384454 A US 201314384454A US 9737992 B2 US9737992 B2 US 9737992B2
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United States
Prior art keywords
robot
zone
pallet
operator intervention
installation
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Expired - Fee Related
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US14/384,454
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English (en)
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US20150112483A1 (en
Inventor
Didier Mougin
Gael Cheron
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Sidel Participations SAS
Sidel Packing Solutions SAS
Original Assignee
CERMEX Constructions Etudes et Recherches de Materiels pour lEmballage dExpedition SAS
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Assigned to SIDEL PARTICIPATIONS reassignment SIDEL PARTICIPATIONS ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: MOUGIN, DIDIER, CHERON, GAEL
Assigned to C.E.R.M.E.X. CONSTRUCTIONS ETUDES ET RECHERCHES DE MATERIELS POUR L'EMBALLAGE D'EXPEDITION reassignment C.E.R.M.E.X. CONSTRUCTIONS ETUDES ET RECHERCHES DE MATERIELS POUR L'EMBALLAGE D'EXPEDITION ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: SIDEL PARTICIPATIONS
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39082—Collision, real time collision avoidance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40006—Placing, palletize, un palletize, paper roll placing, box stacking
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller
    • Y10S901/09—Closed loop, sensor feedback controls arm movement

Definitions

  • the invention relates to an automatic automated installation in which a robot is used in at least one mode of operation.
  • such an installation comprises a closed space in which the robot manoeuvres, and stacks products on a pallet positioned at a palletizing station.
  • a door situated in front of the palletizing station allows an operator to enter and retrieve the pallet when it is full.
  • the space is equipped with detection means which, when they detect the presence of a person in the space or that the door has been opened at an unsuitable time, trigger the securing of the installation, stopping the robot and cutting off the power supply to the installation.
  • An installation is known from FR 2 848 339 which is equipped with such detection means and which provides a cradle that ensures the positioning of a pallet up to the palletizing station or which initiates the exiting of the pallet from the space, such that an operator does not have to enter the space to retrieve a full pallet or to install a new pallet.
  • the invention aims to overcome these drawbacks by proposing a novel installation which is more productive than that mentioned above, while ensuring the safety of the operators who retrieve full pallets from the spaces or reposition empty pallets in the palletizing zones.
  • the invention relates to an automatic automated installation in which at least one robot is used in at least one mode of operation in at least one work zone, said installation comprising
  • the installation comprises detection means which are arranged in said closed space to delimit at least two zones and which are also associated with means for control of said at least one mode of operation of the robot, each zone delimited by the detection means being associated with a mode of operation of the robot.
  • the installation allows a mode of operation of the robot which is not dangerous for the operator entering the space.
  • the invention is designed specifically to ensure a palletizing of products in two zones, and it makes it possible to increase the production of the robot by limiting the stops and stopping times thereof: in fact, thanks to the invention, it is possible to stop the robot from operating without the whole machine being stopped (secured).
  • the invention is notable in that the detection means are positioned at a predetermined height from a floor of said space, said height being greater than the height of an empty pallet.
  • the space can be equipped with other means that make it possible to detect the presence of a pallet in a work zone, so as to allow, or not allow, the robot to work in the zone in order to place the products on the pallet.
  • These second detection means are, however, independent of the means for detecting the presence of elements or an object in the predetermined zones, positioned at a certain height from the floor.
  • the detection means comprise a camera capable of scanning said at least two delimited zones in the space, said at least two zones being situated above a predetermined height from a floor ( 18 ) of said space ( 1 ), said height being greater than the height of an empty pallet ( 12 ).
  • the camera (which constitutes the detection means) could be positioned anywhere in the space, including below the level of a pallet (for example on the floor). However, in its mode of operation for monitoring said at least two zones (each associated with one mode of operation of the robot), it would not take into consideration the zone situated below the higher level of the pallet. In this manner, the means for detecting the presence or absence of the pallet remain independent of the means for detecting the zones associated with the working modes of the robot.
  • the invention has another benefit: with the installations of the state of the art it was necessary to train the operators to make the installation operate: the operators had to know how to restart operation of the installation when it had been secured: for example, the installation had to be reset first, then the detection means had to be activated before authorizing the restart of the robot of the installation . . . . This was done by pressing a series of buttons on a control station of the installation.
  • the machine is no longer secured as soon as the space in which the robot works is opened.
  • the invention has moreover been developed because a new standard (ISO 10 218-1 and ISO 10 218-2) has been introduced which authorizes an operator to enter a space in which a robot is working, provided that certain requirements are met.
  • the invention meets these requirements and improves the ergonomics of operating the automatic automated installations.
  • the invention can also comprise the following characteristics, taken separately or in combination:
  • the invention also relates to particular methods of operation for using an installation as defined above.
  • the safety control means identify at least one sequence of modes of operation of the robot.
  • FIG. 1 shows diagrammatically, in a top view, an installation according to the invention.
  • FIG. 2 is a partial perspective view of the installation shown in FIG. 1 ,
  • FIG. 3 is another partial perspective view of the installation shown in FIGS. 1 and 2 , showing the detection means defining three zones in the space and/or outside the space but close to it, as well as an operator,
  • FIG. 3 bis shows the same installation as the one illustrated in FIG. 3 , in a partial perspective view, but with different detection means from those illustrated in FIG. 3 ,
  • FIG. 4 shows the installation of FIG. 3 , in which an empty pallet is in the process of being inserted
  • FIG. 5 shows the installation of FIG. 3 , in which an empty pallet is completely inserted in a location dedicated to it, and in which the operator enters a first zone defined by the detection means,
  • FIG. 6 shows the installation of FIG. 3 , in which there is a full pallet, the full pallet being located in a third detection zone of the detection means,
  • FIG. 7 shows the installation of FIG. 3 , in which there is a full pallet, the full pallet being located in a second detection zone of the detection means,
  • FIG. 8 shows the installation of FIG. 3 , in which there is a full pallet, the full pallet being located in a first detection zone of the detection means,
  • FIG. 9 is a block diagram of a mode of operation of the installation according to the invention.
  • FIG. 10 is a second block diagram of a second mode of operation of the installation according to the invention.
  • FIG. 11 is a third block diagram of a particular mode of operation of the installation according to the invention.
  • the installation shown in FIG. 1 is an automatic automated installation.
  • It comprises a closed space 1 in which a robot 2 is used.
  • the robot 2 can operate in several modes of operation, i.e. it can carry out several different movements or carry out the same movements but at different rates, for example.
  • the robot 2 thus operates in at least one mode of operation.
  • the robot 2 works in a zone 3 called a “work zone”: this is a zone situated in the space and in which it is authorized to work.
  • zone 3 therefore comprises four sub-zones: two zones bearing the reference 6 , which will also be called operator intervention stations hereinafter, and in each of which the robot 2 positions products 11 on pallets 12 according to a given pattern, a zone 13 , which is a buffer zone in which the robot 2 can stack several products 11 when it is not authorized to work at the operator intervention stations 6 , and an infeed zone 14 for the products 11 .
  • the infeed zone 14 for the products 11 comprises the end of an infeed conveyor 15 for the products 11 which have been prepared upstream.
  • the space 1 comprises a window 16 through which the infeed belt of the conveyor 15 passes.
  • the window 16 can be equipped with vertical flexible strips 17 that allow the space to be kept closed.
  • the closed space 1 is equipped with a door 4 which is fitted so as to be mobile between two openings 5 .
  • an operator intervention station 6 i.e. a station in which an operator can intervene, either because there is something to be taken out of there or because there is something to be put in there or because something needs to be checked there.
  • the operator intervention station 6 is also a station in which the robot is authorized to work. In this way the operator intervention stations 6 are comprised within the work zone 3 of the robot 2 .
  • Each opening 5 comprises sensors 50 which detect the presence of the door 4 .
  • the door 4 can also comprise sensors 51 for contacting the sensors 50 when it is correctly positioned in front of the opening 5 .
  • the installation also comprises detection means 7 , which detect the presence of an element in the space, and in particular at an operator intervention station 6 .
  • the installation comprises two detection means 7 , each means 7 being arranged in an operator intervention station 6 or close to the latter.
  • the detection means 7 are arranged to delimit several zones in the space or close to it. These three zones bear the references 8 , 9 and 10 in the figures.
  • the three zones 8 , 9 and 10 at least partially cover the operator intervention station 6 .
  • the detection means 7 can be realized by sensors, by a camera (in which case the camera will be associated with image analysis means) and, within the framework of this preferred embodiment, the detection means 7 comprise a laser scanner 7 .
  • the laser scanner 7 is positioned at a predetermined height from the floor 18 of the space 1 .
  • the height of the laser scanner 7 is calculated so as to be greater than that of a pallet 12 : in this way the laser of the scanner 7 does not detect the presence of a pallet 12 placed in the space, at the operator intervention station 6 .
  • the space is equipped with means that allow the presence of a pallet in an operator intervention zone 6 to be detected.
  • These detection means are realized by a positioning stop 19 for a pallet 12 , in the shape of a U, placed at the end of the zone 6 ( FIG. 3 ).
  • a sensor 20 for the presence of a pallet is positioned on the stop, such that when a pallet 12 is positioned against the U-shaped stop 19 the sensor 20 detects the presence of this pallet 12 .
  • the stop 19 could have a shape other than that of a U, as shown for example in FIG. 2 , without exceeding the scope of the invention.
  • the space can also be equipped with means 21 for control of the installation and in particular of the operation of the robot 2 , such as a computer or a control unit, an electrical cabinet 22 , and optionally another internal station 23 ( FIG. 1 ) that can be accessed for example through a back door 24 .
  • the station 23 can be for example a quality control station, in which the robot 1 at intervals sets down a product 11 so that it can be checked by an operator.
  • the detection means 7 are realized by a camera, associated with image analysis means (not shown).
  • the camera is positioned on the floor and delimits the three abovementioned zones 8 , 9 and 10 .
  • the three zones 8 , 9 and 10 can be volumes, as shown in FIG. 3 bis.
  • the zones 8 , 9 and 10 are delimited starting from a level n which is greater than the higher level of a pallet. This is possible thanks to the image analysis means associated with the camera.
  • the scanner 7 delimits three zones 8 , 9 and 10 in the operator intervention station 6 , as was seen previously.
  • the scanner 7 is activated when the sensors 50 of the opening 5 detect the absence of the door 4 (for example when they are not opposite the sensors 51 ) and when, in the operator intervention station 6 , there is no pallet 12 or there is a pallet 12 and this pallet is empty.
  • the laser scanner 7 is also in electronic contact with means for control of the operation of the robot 2 .
  • the means for control of the mode of operation of the robot 2 form part of the means that control the operation of the installation, i.e. the control means 21 .
  • Each zone 8 , 9 or 10 is associated with a particular mode of operation of the robot 2 .
  • the zone 8 which exceeds the space is associated with a normal mode of operation of the robot 2 and with the emission of an alarm 27 ( FIG. 2 in particular).
  • This alarm 27 can be visual and/or audible.
  • an element an operator 25 or a pallet truck 26
  • the robot continues to operate normally but an audible message sounds via the alarm 27 in order to warn the operator 25 , for example, that he is entering a secured zone.
  • the zone 9 is located just behind the zone 8 but, this time, completely inside the space.
  • the zone 9 is associated with a mode of operation of the robot which is slowed down. In other words, when an element enters the zone 9 , the work rate of the robot 2 is automatically slowed down.
  • the zone 10 is located in the middle of the space, very close to the robot 2 . Also, and for safety reasons, when an element enters the zone 10 , the robot is put on standby: it stops.
  • the latter is, of course, connected to the means 21 for control of the operation of the robot.
  • connection cables of the scanner 7 connected to the control means 21 have not been shown.
  • the robot 2 is connected to interface with the control means 21 as well as the laser scanner 7 and the sensors 50 , 51 and 20 , to ensure the operation of the installation according to the following description, with reference firstly to FIGS. 4 and 5 .
  • the operator intervention stations 6 are empty.
  • the robot 2 is at a stop, above the infeed zone 14 for the products 11 .
  • the sensors 20 for the presence of a pallet in each of the two work zones 3 (which are also the operator intervention stations 6 ), do not detect a pallet 12 , then the robot 2 can stack products 11 in the buffer zone 13 . If the zone 13 already comprises a certain number of products 11 (predetermined quantity), then the robot 2 is stopped.
  • FIGS. 4 to 8 the door 4 (not shown) closes the opening 5 situated on the left of the installation (left-hand part of the installation likewise not shown).
  • the opening 5 of the right-hand side of the installation 1 therefore is not closed by the door.
  • the sensors 50 of the right-hand opening 5 therefore indicate to the control means 21 that the right-hand opening 5 is not closed.
  • the control means 21 therefore activate the laser scanner 7 of the right-hand operator intervention station 6 .
  • the sensor 20 detects the presence of the pallet 12 and alerts the control means 21 .
  • the control means 21 will authorize the robot 2 to stack the products 11 on the pallet 12 which has just been positioned only when the door 4 has been closed in front of the right-hand opening 5 .
  • the audible and/or visual alarm is actuated because the scanner 7 has detected the incursion of the operator 25 into the zone 8 .
  • control means 21 When the operator 25 closes the door 4 , the control means 21 then authorize the robot to work at the right-hand operator intervention station 6 , and the scanner 7 of the right-hand operator intervention station 6 is deactivated.
  • the robot 2 is programmed to produce n rows of N products 11 , on x levels.
  • the robot 2 therefore knows when a pallet 12 is full: the pallet 12 is full as far as the robot 2 is concerned when it has finished producing the filling pattern given to it.
  • the robot 2 When the robot 2 considers that the pallet 12 is full (because it has finished the filling pattern), it alerts the control means 21 , which then authorize the opening of the door 4 . As the door 4 opens, this activates the laser scanner 7 . However, although the full pallet 12 is present in the zone 10 , which would normally control the stopping of the robot 2 , the “full pallet” signal received by the control means inhibits the control of the mode of operation of the robot as a function of the zones of the scanner, until the pallet has been completely removed from the installation.
  • FIG. 6 shows the full pallet 12 , in position against the stop.
  • zones 8 , 9 and 10 of the scanner are activated.
  • the robot is shown in the stopped position. However, it is not the presence of the full pallet 12 in the zone 9 that controlled the stopping of the robot 2 , but the fact that there is no pallet in the left-hand operator intervention station 6 and the fact that the buffer zone 13 is full.
  • monitoring is done to check that a certain message sequence is received by the control means 21 :
  • the message sequence received must be this and in this order for the means 21 for control of the mode of operation of the robot to be uninhibited.
  • the installation is equipped with safety control means, linked in particular to the monitoring of message sequences to be received by the control means 21 .
  • FIG. 11 diagrammatically shows what happens following the receipt, by the control means 21 , of an indication of a full pallet 12 :
  • Step 300 is a full pallet indication: this step 300 triggers: (i) a step 301 of opening the door 4 , (ii) a step 302 of inhibiting the control of the mode of operation of the robot 2 as a function of a detection of an element in any one of the zones 8 to 10 of the scanner, and (iii) a step 303 of monitoring the message sequence indicating the complete exit of the full pallet.
  • FIGS. 6, 7 and 8 each show respectively the following steps:
  • the means 21 for control of the mode of operation of the robot are uninhibited.
  • the alarm can therefore be triggered again, and the robot can then be slowed down in its work or stopped again if an element is detected in the zones 8 , 9 or 10 defined by the laser scanner 7 .
  • control and safety means allow the robot 2 to work in the other intervention station 6 while the full pallet has not exited or allow the installation to be completely stopped if an abnormal sequence is identified during the exit of the full pallet, even before restarting the control of the operation of the robot 2 as a function of a detection of an element in a zone which is not intended to contain one behind an open door 4 .
  • the scanner 7 is deactivated in the operator intervention station 6 which is placed behind it.
  • FIG. 9 summarizes the operating conditions of each operator intervention station 6 .
  • Step 100 indicates that the door 4 is closed in front of the opening 5 for access to an operator intervention station 6 .
  • step 101 it is checked that the sensor 20 does detect a pallet present in the operator intervention station 6 .
  • step 102 the robot 2 is authorized to work in said operator intervention station 6 , in a predetermined normal work mode if there is a full pallet in the other station 6 , or in a work mode which depends on a possible detection of an element in one of the zones 8 to 10 of the scanner of the other work station 6 if, in this other station, there is no pallet 12 or the pallet 12 is not full.
  • step 103 the robot is stopped until the sensor 20 detects the presence of a pallet.
  • step 100 If the door 4 is not closed (“no” starting from step 100 ), then the following steps 104 , 105 and 106 are used:
  • FIG. 10 shows how the safety control means operate in an operator intervention station 6 , after detection of an element in the zones 8 to 10 .
  • Step 200 relates to a normal mode of operation of the robot 2 in an operator intervention station 6 (station 6 with its opening 5 closed by the door 4 ): specifically, the robot 2 stacks products 11 on a pallet 12 in a predetermined pattern.
  • Step 201 relates to the possible detection of an object in the zone 8 of the scanner of the other operator intervention station 6 (the one with its opening 5 not closed by the door 4 ). If an element is detected in zone 8 (“yes” on the diagram starting from 201 ), then the alarm 27 is triggered by step 202 . If not (“no” on the diagram starting from 201 ), the robot continues to work normally.
  • Step 203 relates to the possible detection of an object in the zone 9 of the scanner of the other operator intervention station 6 (the one with its opening 5 not closed by the door 4 ). If an element is detected in zone 9 (“yes” on the diagram starting from 203 ), then a slowed-down mode of operation of the robot 2 is triggered by step 204 . If not (“no” on the diagram starting from 203 ), step 201 is repeated, i.e. a query is raised as to whether a possible element is present in zone 8 in the other operator intervention station 6 .
  • Step 205 relates to the possible detection of an object in the zone 10 of the scanner of the other operator intervention station 6 . If an element is detected in zone 10 (“yes” on the diagram starting from 201 ), then the stopping of the robot 2 is triggered by step 206 . If not (“no” on the diagram starting from 205 ), step 203 is repeated, i.e. a query is raised as to whether a possible element is present in zone 9 in the other operator intervention station 6 .
  • Step 203 ′ relates to the possible detection of an object in the zone 9 after the stopping of the robot 2 has been triggered in step 206 . If an element is again detected in zone 9 (“yes” on the diagram starting from 203 ′), then step 204 is repeated, i.e. the mode of operation of the robot 2 in a slowed-down mode is triggered. If not (“no” on the diagram starting from 203 ′), the installation is secured by step 207 (complete stop of the installation), because this means that the item that went in has not come out again and has disappeared.
  • step 201 ′ consists of checking that the element detected in zone 9 does go back into zone 8 (step 201 ′ in FIG. 10 ).
  • step 202 is repeated (triggering of the alarm 27 ), if not (“no” starting from 201 ′ in FIG. 10 ) then the installation is secured by step 207 (complete stop of the installation).
  • the installation according to the invention makes it possible to make a robot 2 work in a closed space even if an operator 25 has to enter a zone of this space, because it comprises means for ensuring his safety, such as in particular the zones defined by the scanner which, when it detects the presence of an object, make it possible to control or slow down the pace of the robot 2 or to stop it if the element enters too far into the space.
  • the installation still comprises means for completely securing the machine should anomalous circumstances arise, such as those in which an object enters and does not leave again, or leaves again in a strange manner (passing from zone 10 to zone 8 for example), indicating that the installation has a problem and that this requires the installation to be reviewed.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
US14/384,454 2012-03-12 2013-03-11 Automatic automated installation Expired - Fee Related US9737992B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR1252192 2012-03-12
FR1252192A FR2987774B1 (fr) 2012-03-12 2012-03-12 Installation robotisee automatique
PCT/FR2013/050503 WO2013136002A1 (fr) 2012-03-12 2013-03-11 Installation robotisée automatique

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US20150112483A1 US20150112483A1 (en) 2015-04-23
US9737992B2 true US9737992B2 (en) 2017-08-22

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US (1) US9737992B2 (de)
EP (1) EP2825353B1 (de)
CN (1) CN104169052A (de)
FR (1) FR2987774B1 (de)
WO (1) WO2013136002A1 (de)

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EP2825353A1 (de) 2015-01-21
FR2987774B1 (fr) 2015-02-27
EP2825353B1 (de) 2019-11-06
FR2987774A1 (fr) 2013-09-13
WO2013136002A1 (fr) 2013-09-19
US20150112483A1 (en) 2015-04-23
CN104169052A (zh) 2014-11-26

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